CN104334109A

CN104334109A - Systems and methods for commanded reconfiguration of a surgical manipulator using the null-space

Info

Publication number: CN104334109A
Application number: CN201380027604.9A
Authority: CN
Inventors: A·M·乌尔塔斯; P·W·莫尔; P·海英维; P·米尔曼; B·M·斯凯纳; R·L·迪万根佐; S·卢克
Original assignee: Intuitive Surgical Operations Inc
Current assignee: Intuitive Surgical Operations Inc
Priority date: 2012-06-01
Filing date: 2013-05-31
Publication date: 2015-02-04
Anticipated expiration: 2033-05-31
Also published as: US10682191B2; JP6637529B2; CN104334109B; EP2854690A4; JP2015526115A; WO2013181507A1; JP2018094446A; KR20150023290A; KR102167359B1; US20180214225A1; EP2854690A1; JP6291484B2; EP2854690B1

Abstract

Devices, systems, and methods for reconfiguring a surgical manipulator by moving the manipulator within a null-space of a kinematic Jacobian of the manipulator arm. In one aspect, in response to receiving a reconfiguration command, the system drives a first set of joints and calculates velocities of the plurality of joints to be within a null-space. The joints are driven according to the reconfiguration command and the calculated movement so as to maintain a desired state of the end effector or a remote center about which an instrument shaft pivots. In another aspect, the joints are also driven according to a calculated end effector or remote center displacing velocities within a null-perpendicular-space of the Jacobian so as to effect the desired reconfiguration concurrently with a desired movement of the end effector or remote center.

Description

For using the system and method reconfigured of the order of the surgical manipulator of kernel

The cross reference of related application

The application is the U.S. Provisional Patent Application being entitled as " Commanded Reconfiguration of a Surgical Manipulator Using the Null-Space (using the reconfiguring of order of the surgical manipulator of kernel) " submitted on June 1st, 2012 number 61/654, the non-transitory application of 764 (attorney ISRG03770PROV/US) and require its benefit of priority, its whole disclosure is incorporated in that this is for reference.

The application relates generally to the following application owned together: the U. S. application being entitled as " Control of Medical Robotic System Manipulator About Kinematic Singularities (control about the medical robotic system manipulator of kinesiology singularity) " numbers 12/494,695 submitted on June 30th, 2009; The U. S. application number that what on March 17th, 2009 submitted to is entitled as " Master Controller Having Redundant Degrees of Freedom and Added Forces to Create Internal Motion (having the master controller of the additional force of redundant degree of freedom and generation internal motion) " is 12/406,004; What on May 19th, 2005 submitted to is entitled as " Software Center and Highly Configurable Robotic Systems for Surgery and Other Uses (software center and highly configurable robot systems for surgical operation and other purposes) " U. S. application number 11/133,423 (U.S. Patent numbers 8,004,229); What JIUYUE in 2004 was submitted on the 30th is entitled as " Offset Remote Center Manipulator For Robotic Surgery (the biased remote center's manipulator for robotic surgical) " U. S. application number 10/957,077 (U.S. Patent number 7,594,912); The U. S. application being entitled as " Master Having Redundant Degrees of Freedom (there is the main frame of redundant degree of freedom) " number 09/398,507 (U.S. Patent number 6,714,839) of JIUYUE in 1999 submission on the 17th; And and the U. S. application being entitled as " Manipulator Arm-to-Patient Collision Avoidance Using a Null-Space (what use kernel avoids manipulator arm to the collision of patient) " simultaneously submitted to of the application number _ [attorney ISRG03760/US] and be entitled as U. S. application number _ [the attorney ISRG03810/US] of " Systems and Methods for Avoiding Collisions Between Manipulator Arms Using a Null-Space (using kernel for avoiding the system and method collided between manipulator arm) "; Its whole disclosure is incorporated in that this is for reference.

Technical field

Present invention generally provides the surgical operation of improvement and/or robot device, system and method.

Background technology

Minimally invasive medical technology is intended to the amount reducing tissue impaired during diagnosis or surgical procedures, thus the recovery time of minimizing patient, sense of discomfort and harmful side effect.Millions of " open " or traditional surgery is performed every year in the U.S.; Many this surgical operations can perform potentially in a minimally invasive manner.But, due in surgical operating instrument and technology and the restriction in grasping needed for it additional surgical training, only have relatively less surgical operation to use less invasive techniques at present.

Be developed for operating Wicresoft telesurgery systems, to increase surgical flexibility ratio, and allow doctor to perform an operation to patient from remote location.Telesurgery is the general statement to surgical system, and wherein surgeon uses the movement of Long-distance Control (such as, servo control mechanism etc.) the manipulation of surgical apparatus of certain form, instead of direct hand grip mobile apparatus.In this telesurgery systems, surgeon is provided with the image of the surgical site at remote location place.When usual in suitable indicator or display, observe the 3-D view of surgical site time, surgeon performs surgical procedures by handling main control input equipment to patient, the motion of this and then control apparatus.Robotic surgical apparatus can be inserted into treat the tissue at the surgical site place in patient body by little, micro-wound surgical operation hole, and this wound is usually relevant with access open surgical operation.Frequently by the axle at minimally invasive hole place pivotable apparatus, this axle that axially to be slided by this hole, in hole, rotate this axle etc., these robot systems can move the working distal tip of the surgical operating instrument with enough flexibility ratios to perform quite complicated surgical tasks.

Servo control mechanism for telesurgery often accepts the input (each corresponds to a surgical hands) from two master controllers and can comprise two or more robots arms or manipulator.The mapping that hands moves to the image of the robotic tool shown by image capture apparatus can help to provide accurate control to the apparatus associated with every palmistry to surgeon.In many surgical operation robot systems, comprise one or more additional robotic manipulator arms for mobile endoscope or other image capture apparatus, Additional surgical operating theater instruments etc.

During robotic surgical, the layout of various structures can be used to the surgical operating instrument being supported on surgical site place.Driven linkage or " from device " are commonly called robotic surgical manipulator, and be used as the exemplary linkage Plant arrangement of robotic surgical manipulator at U.S. Patent number 6 at minimally invasive robotic surgery intra-operative, 758,843,6,246,200 and 5,800, be described in 423, its whole disclosure is incorporated in that this is for reference.These linkages often utilize parallelogram to arrange and clamp the apparatus with axle.This manipulator structure can retrain the movement of apparatus, makes apparatus axis be positioned in remote center's pivotable of the ball shape rotary in space around the length along stiff shaft.By this center of rotation is aimed at (such as with the incision point to inner surgical site, in the trocar at stomach wall place or intubate during being used in laparoscopically surgical operation), the end effector of surgical operating instrument can not forced the power of potential danger to stomach wall by using the proximal end of manipulator linkage shifting axle and be located safely.Such as, at U.S. Patent number 6,702,805,6,676,669,5,855,583,5,808,665,5,445,166 and 5,184, in 601, be described substituting manipulator structure, its whole disclosure is incorporated in that this is for reference.

Although the robotic surgical system of novelty and device have been proved to be efficient and favourable, but further improve be still desirable.Such as, when in micro-wound surgical operation position during mobile surgical operating instrument, robotic surgical manipulator can present the movement of significant quantity outside patient body, especially when by polarizers of big angle scope around minimally invasive hole pivotable apparatus time, this can cause mobile operating device unexpectedly to contact each other, the outer surface that contact trolley in situations in the surgery room or other structures, contact surgical personnel and/or contact patient.Substituting manipulator structure is suggested, and it adopts and inserts position to the software control of highly configurable kinesiology manipulator joint group to be tied to by pivoting action, forbids unexpected manipulator/manipulator contact outside patient body (s) simultaneously.These highly configurable " software center " surgical manipulator systems can provide remarkable advantage, but also bring challenge.Especially, remote center's linkage of mechanical constraint can have security advantages in some conditions.In addition, the extensive configuration being usually included in the numerous joints in these manipulators can cause manipulator to be difficult to manually be arranged to the configuration for needed for specific program.But the surgical operation scope performed along with using telesurgery systems constantly expands, the available configuration of apparatus expanded in patient body and the demand of moving range are increased day by day.Unfortunately, these two kinds changes all can increase the challenge be associated with the motion of the manipulator of health outside, and also can increase the importance (making them unnecessarily limit motion flexibility ratio and/or the scope of the instrument in surgical operation work space) avoided by the configuration of the manipulator of bad adjustment.

Due to these and other reasons, be provided for the device of the improvement of surgical operation, robotic surgical and other robot application, system and method will be favourable.If these improvement opportunity provide according to the desired ability reconfiguring manipulator arm and maintain simultaneously the state of desired end effector or apparatus axis pivotable around remote center desired by position, this will be particularly advantageous.Ideally, these improve and will allow first user during surgical procedures, realize the movement of the end effector of manipulator arm, allow the second user to reconfigure manipulator arm in the mobile preparation of end effector and/or during the movement of end effector simultaneously.In addition, provide this improvement to increase the range of movement of apparatus at least some operation process simultaneously, and without the need to significantly increasing the cost of size, mechanical complexity or these systems, and keep simultaneously or improve its flexibility ratio being desirable.

Summary of the invention

Present invention generally provides robot and/or surgery device, the system and method for improvement.In many examples, the present invention will adopt highly configurable surgical robotic manipulator.Such as, these manipulators can have the degree of freedom of movement larger than the surgical end effector be associated in surgical operation working area.Robotic surgical system according to the present invention generally comprises the manipulator arm supporting robot surgical operating instrument and the processor calculating the joint movement coordinated for the end effector of control instrument.For given end effector position and/or given pivot point, the joint of the robotic manipulator of support tip executor allows manipulator to move in a series of different configuration.This system is by moving according to the coordination of the joint calculated by processor one or more joint driving manipulator, thus cause the motion of one or more joint of manipulator in the kernel of kinesiology Jacobian, so that the end effector state desired by keeping and/or pivot point, thus response user command, allow reconfiguring of highly configurable robotic manipulator.In various embodiments, Systems Operator uses user input apparatus input to reconfigure order and in kernel, drives one or more joint of manipulator, until manipulator is reconfigured according to desired.

In one aspect of the invention, redundant degree of freedom (RDOF) surgical operation robot system having and handle input is provided.This RDOF surgical operation robot system comprises manipulator assemblies, one or more user input apparatus and has the processor of controller.The manipulator arm of assembly has provides enough degree of freedom to allow to have for given end effector state multiple joints of a series of connector status.Response reconfigures order, the speed of the described multiple joint in this system-computed kernel received by user inputs.Joint is driven, to keep the desired state of end effector with the movement calculated according to reconfiguring order.Response receives steering command and carrys out mobile terminal executor with desired movement, this system calculates joint end effector displacement by calculating the joint speed be orthogonal in zero vertical space of the Jacobian of kernel is moved, and according to calculated mobile drive sub, move to realize desired end effector.

In another aspect of this invention, manipulator is configured movement, makes the mid portion of apparatus axis around remote center's pivotable.Between manipulator and apparatus, there is multiple passive joint, thus enough degree of freedom are provided, when extending through entry site with the mid portion of convenient apparatus axis, allow, for end effector position, there is a series of connector status.Input equipment is connected to manipulator by the processor with controller.Response reconfigures order, processor determines that the movement of one or more joint is to realize desired reconfiguring, make the mid portion of apparatus during the movement desired by end effector in entry site and keep this axle pivotable around desired by remote central location.In various embodiments, response receives steering command to realize the movement of desired end effector, the end effector displacement of this system-computed joint is moved, it comprises the joint speed calculating and be orthogonal in zero vertical space of the Jacobian of kernel, and move to realize desired end effector according to calculated mobile drive sub, wherein apparatus axis is around remote center's pivotable.

In certain embodiments, the end effector displacement of joint is moved and is calculated, to avoid driving first group of joint in described multiple joint, described first group of joint is effectively locked, or first group of joint is not driven into realize end effector displacement to move.First group of joint can comprise one or more joint of manipulator arm.But reconfiguring movement and can being calculated as the described first group of joint driven in described multiple joint of joint, moves to realize desired end effector.Reconfiguring of described first group of joint mobile also can be calculated as the substantially invariable speed making the movement from a joint in described first group of joint provide joint on the period reconfigured.In certain embodiments, be swivel coupling manipulator arm being connected to substrate from a joint in described first group of joint of manipulator.The desired state of end effector can comprise desired orientation, speed or the acceleration of end effector.Usually, steering command is different inputs with reconfiguring order, usually receive from different users in different input equipment, or these different inputs can be received from same user.In certain embodiments, end effector manipulation order is received from input equipment by first user, this first user is the doctor of input command on surgeon console primary input end such as, and reconfigure order in independent input equipment and received from input equipment by the second user, this second user such as in the input equipment of patient's thruster car input reconfigure the feldsher of order.In further embodiments, end effector manipulation order and to reconfigure both orders be received from the input equipment of surgeon console by same user.In further embodiments, end effector manipulation order and to reconfigure both orders be received from the input equipment of patient's thruster car by same user.

In one aspect, the portions of proximal of manipulator arm is attached to substrate, portions of proximal is prohibited and joint is driven relative to the movement of substrate.This portions of proximal can be coupled to substrate by joint, makes the portions of proximal of manipulator arm joint is driven while removable relative to substrate.In a kind of exemplary embodiment, the portions of proximal of manipulator is connected to substrate by the swivel coupling supporting manipulator arm by this joint, makes the joint of swivel coupling move one or more joint of the pivot axis manipulator arm of wraparound adaptor.In certain embodiments, the pivot axis of swivel coupling extend through from joint the apparatus axis pivotable of end effector around remote center.In one aspect, the movement of swivel coupling is around one or more joint of circular cone pivot manoeuvre device arm, and this circular cone is distally tapered and distally end effector is directed, is generally remote center.In this respect manipulator arm pivotable around circular cone correspond to tool tip range of movement in conical space, the movement of instrument is wherein impossible or impaired, and this will be discussed in detail hereinafter further.

On the other hand, the joint portions of proximal of manipulator being connected to substrate is moveable relative to substrate along the path of normally arc or basic circular path, make joint along the movement in path around one or more joint of the axis pivot manoeuvre device arm of the distal part of the manipulator arm extended through near apparatus, this axis preferably extend through apparatus axis pivotable around remote center.In certain embodiments, this manipulator comprises the swivel coupling portions of proximal of manipulator being connected to substrate, and this swivel coupling can be linear, arc or almost circular path relative to substrate edge is moveable.

In another aspect of this invention, the surgical robotic manipulator with nearside swivel coupling and distally parallelogram linkage device is provided, the pivot axis of swivel coupling substantially with the axes intersect of the apparatus axis of end effector, if can preferably intersect at place of remote center.This system comprises processor further, and it has the controller that input is connected to manipulator arm and be configured response and reconfigures the movement that order calculates multiple joint and make the speed of calculated joint in the kernel of Jacobian.This system comprises and reconfigures order and reconfigure mobile first group of joint moving in described multiple joint and end effector is in the input equipment of desired state for receiving with desired.

Remainder by reference to this description and accompanying drawing becomes apparent by the further understanding of character of the present invention and advantage.

Accompanying drawing explanation

Figure 1A is the top view of robotic surgical system according to an embodiment of the invention, robotic surgical system has the surgical operation station with multiple robotic manipulator, and robotic manipulator is used for the surgical operating instrument of the surgical end effector moving the surgical site place, inside had in patient body in robot mode.

Figure 1B diagrammatically illustrates the robotic surgical system of Figure 1A.

Fig. 2 is the perspective view illustrated for surgical procedures order being inputted main surgeon console in the surgical system of Figure 1A or work station, and control station comprises the processor generating manipulator command signal for responding input command.

Fig. 3 is the perspective view of the electronics go-cart of Figure 1A.

Fig. 4 is the perspective view of patient's thruster car with four manipulator arm.

Fig. 5 A-5D shows exemplary manipulator arm.

Fig. 6 A-6B illustrates the exemplary manipulator arm of forward pitch configuration and pitching configuration backward respectively.

Fig. 6 C illustrates that the figure of the range of movement of the surgical operating instrument tool tip of exemplary manipulator arm represents, comprise be in forward pitch and backward in pitching configuration each cone of silence (cone of silence) or conical instrument enter restricted area.

Fig. 7 A illustrates the exemplary manipulator arm of the nearside swivel coupling of the axis revolution manipulator arm had around nearside swivel coupling.

Fig. 7 B illustrates exemplary manipulator arm and relative motion scope and the cone of silence, and exemplary manipulator arm has the nearside swivel coupling of the axis revolution manipulator arm around nearside swivel coupling, and it moves and can be used to alleviate the described cone of silence.

Fig. 8 illustrates the exemplary manipulator arm of the swivel coupling had near the instrument holders of distally.

Fig. 9 illustrates the exemplary manipulator arm of the swivel coupling near the distally instrument holders with the revolution of solderless wrapped connection head axis or torsion instrument holders.

Figure 10 A-10C illustrates along with joint moves in its whole joint moving range, has the successive views of the exemplary manipulator arm of the swivel coupling near the instrument holders of distally.

Figure 11 A-11B illustrates the revolution profile of the exemplary manipulator arm when the angular displacement of joint is respectively 0 ° and 90 ° with distally swivel coupling.

Figure 12 A-12D and Figure 13 A-13C illustrates the exemplary manipulator arm with proximal fitting, and its path shift about joint supports the proximal fitting of manipulator arm.

Figure 14 A-14B diagrammatically represents the relation between the kernel of the Jacobian of exemplary manipulator assembly and zero vertical space.

Figure 15 A-15B illustrates the reconfiguring of exemplary manipulator assembly for given end effector position.

Figure 16 A-16B illustrates the exemplary manipulator for the given remote central location residing for the apparatus axis pivotable be associated.

Figure 17 A-17C illustrates three examples inputted according to the steering command of many embodiments.

Figure 18 A-18B is the simplified block diagram of the method represented according to many embodiments.

Detailed description of the invention

The present invention provides the surgical operation of improvement and robot device, system and method substantially.The present invention is particularly advantageous for the use of surgical operation robot system, wherein during surgical procedures, multiple Surigical tool or apparatus to be arranged in the multiple robotic manipulator be associated and to be moved by this manipulator.Robot system will generally include tele-robotic system, telesurgery systems and/or telepresence system, and these systems comprise the processor being configured to master-slave control device.Be suitably configured to that there is the robot system that radial type linkage carrys out the processor of mobile operating device assembly by providing to adopt, wherein said linkage has relatively a large amount of degree of freedom, and the motion of linkage can be worked by Wicresoft's entry site through adjustment.A large amount of degree of freedom allows Systems Operator or assistant to reconfigure the linkage of manipulator assemblies, maintain desired end effector state, in surgical operation prepares and/or during surgical procedures, another user handles end effector alternatively simultaneously.

Robotic manipulator assemblies as herein described will generally include robotic manipulator and instrument mounted thereto (this instrument generally includes the surgical operating instrument of surgical operation version), but the manipulator that term " robot assembly " also will comprise without instrument mounted thereto.Term " instrument " had both comprised general or industrial robot instrument and had also comprised special purpose robot's surgical operating instrument, was generally included the end effector of applicable tissue manipulation, organized processing, imaging of tissue etc. by these the latter's structures.Instrument/manipulator interface normally will disconnect tool clamp holder or coupler fast, thus allow to remove and use substituting instrument to replace this instrument fast fast.Manipulator assemblies will have substrate usually, and this substrate was fixed in space in the period at least partially of robotic process, and this manipulator assemblies can be included in a large amount of degree of freedom between substrate and the end effector of instrument.The actuating of end effector (such as open or closed grasp device jaw, fill can wait to electrosurgery oar (electrosurgical paddle)) will usually be separated with these manipulator assemblies degree of freedom, and supplement the degree of freedom of these manipulator assemblies.

End effector moves usual with the degree of freedom between two to six in work space.As used herein, term " orientation " had both comprised position and had also comprised orientation.Therefore, the change in the orientation of end effector (such as) can relate to end effector from primary importance to the translation of the second position, and end effector is from the first orientation to the rotation of the second orientation, or both combinations.When performing the operation for minimally invasive robotic surgery, the movement of manipulator assemblies can be controlled by the processor of system, makes the axle of instrument or apparatus or mid portion be confined to safety movement by micro-wound surgical operation entry site or other cut hole.This kind of motion can comprise that such as axle is axially inserted in surgical operation work space by cutting part, axle is around the rotation of its axis and the axle pivoting action around the pivotal point of contiguous entry site.

Many exemplary manipulator assemblies as herein described have degree of freedom more more than the degree of freedom needed for surgical site inner position and mobile terminal executor.Such as, in certain embodiments, (six-freedom degree of end effector---three for location can be had nine degree of freedom at internal surgical site place by the surgical end effector of locating by Wicresoft's cut hole with six-freedom degree, three for orientation---and add the three degree of freedom meeting entry site constraint), but ten or more degree of freedom can be had.For given end effector position, have and can be described to have or provide enough degree of freedom to allow to have a series of connector status for end effector position in work space than the configurable manipulator assemblies of height of required degree of freedom more freedom.Such as, for given end effector position, manipulator assemblies can occupy the arbitrary orientation (and being driven betwixt) in a series of substituting manipulator linkage orientation.Similarly, for the velocity vector of given end effector, this manipulator assemblies can have the different joint translational speed scopes for the various terminal of manipulator assemblies in the kernel of Jacobian.

The invention provides robot linkage structures, this structure is particularly applicable to following surgical operation (and other) application, and namely it expects to have wide range of movement and can obtain limited dedicated volume due to the existence of other robot linkage, surgical personnel and equipment etc.Large range of movement needed for each robot linkage and the volume of reduction can also provide larger flexibility ratio between the position of robot supporting construction and surgical operation or other work space, thus promote and accelerate assembling.

The term " state " of joint etc. refers to the control variable be associated with joint usually in this article.Such as, the state of angle joint (angular joint) can refer to the angular velocity of angle and/or the joint defined by the joint in its range of movement.Similarly, the state of axis or prismatic joints can the axial orientation of finger head and/or its axial velocity.Although many controllers as herein described comprise speed control, but they also have some control of azimuth aspects usually.Alternate embodiments can mainly or place one's entire reliance upon position controller, acceleration controller etc.At U.S. Patent number 6,699, describe the many aspects that can be used in the control system of this kind of device in 177 more fully, its whole disclosure is incorporated herein by reference.Therefore, as long as described movement is based on the calculating be associated, just user's bit-steering algorithm, speed control algorithm and/or both combinations etc. the calculating of the movement of joint as herein described and the movement of end effector can be performed.

In certain embodiments, the instrument of exemplary manipulator arm is around the pivotal point pivotable of being close to Wicresoft's cut hole.This system can utilize hardware remote center, such as at United States Patent (USP) 6, and 786, the remote center's motion described in 896, its content is incorporated herein by reference.This kind of system can utilize two parallelogram linkage device, and it constrains the movement of linkage, and the axle of the apparatus that manipulator is supported is gone the long way round journey central point pivotable.Remote center's linkage system of alternative mechanical constraint is known and/or can be developed out in the future.Surprisingly, the work be combined with the present invention indicates remote center's linkage system can benefit from highly configurable motion framework.Particularly, when surgical operation robot system has the linkage allowed around the pivoting action of micro-wound surgical operation entry site place or neighbouring two crossing axis, spherical pivoting action can be included in the desired motion scope of the whole degree in patient body, but still can run into avoidable defect (such as not regulated, be easy to exist outside patient body contact and/or other situations of arm and arm or arm and patient fully).First, add one or more be also mechanically constrained for entry site place or near the extra discretion of pivoting action a small amount of or any improvement in range of movement can be provided.In any case this kind of joint can suppress posture by allowing whole system to be configured to collide or drive towards this posture, pass through to expand further the range of movement etc. of other surgical procedures to provide remarkable advantage.In certain embodiments, this system can utilize software to realize remote center, such as at U.S. Patent application 8, and 004, described in 229, its full content is incorporated herein by reference.In the system with remote software center, processor calculates the movement of joint, so that around the mid portion of the pivotal point determined (these are different from by mechanical constraint) pivotable apparatus axis.By having the ability of software for calculation pivotal point, the flexibility of the system that is characterized by or the different mode of rigidity optionally can be realized.More specifically, different system pattern can be realized as required on a series of pivotal point/center (such as, moveable pivotal point, passive pivotal point, fixing/rigidity pivotal point, soft pivotal point).

Although have many advantages of the robotic surgical system of the configurable manipulator of multiple height, but because manipulator comprises relatively a large amount of joints and connecting rod between substrate and apparatus, so the manual positioning of connecting rod can be challenging and complexity.Even if when manipulator structure be balanced into avoid the affecting of gravity time, attempt to aim at each joint with suitable layout or reconfigure manipulator as required and also can be difficult, consuming time and considerable training and/or technical ability can be related to.When the connecting rod solderless wrapped connection head of manipulator is uneven, this challenge even can be larger, make due to manipulator arm length and design that is passive and that walk lamely in many surgical systems, before surgical operation or period be a difficult matter suitably to configure location this height configurable structure.The present invention allows user, such as assistant to a physician, can fast and easily reconfigure manipulator arm, and the state of end effector desired by keeping, alternatively, even if in surgery surgical process end effector movement during.In certain embodiments, handle and reconfigure input can from same people (such as, the user at surgeon console or patient's thruster car place).

Embodiments of the invention can comprise the user input being configured the degree of freedom utilizing manipulator structure.Be better than and manually reconfigure manipulator, what this input contributed to that the passive joint to respond of the kinematic linkage used inputs by user reconfigures order to reconfigure manipulator structure.In certain embodiments, the user input for reconfiguring order described in receiving is merged in and/or is arranged near manipulator arm.This input can comprise centralized input equipment, to promote reconfiguring of one or more joint, and the button group such as on patient's thruster car or stick.Usually, for receiving the input equipment that reconfigures order and being what to separate for receiving steering command to realize the input of the movement of end effector.The controller of surgical system can comprise the processor with readable memory, this readable memory has record joint controller programming instruction thereon or code, it allows processor to obtain the suitable joint order for drive sub of recording thereon, to allow controller response reconfigure the input of order and realize desired reconfiguring.

In the following description, various embodiment of the present invention will be described.For illustrative purposes, propose concrete configuration and details, to provide the thoroughly understanding to the present embodiment.But those skilled in the art should understand can carry out the present invention when not having detail.In addition, in order to not obscure the embodiment described, can omit or simplify known features.

With reference now to accompanying drawing, wherein run through multiple accompanying drawing, same reference numerals refers to same section, Figure 1A is the top view of minimally invasive robotic surgery operation (MIRS) system 10, according to many embodiments, this system is used for performing Wicresoft's diagnosis or surgical procedures to the patient 12 lain low on operating-table 14.This system can comprise for the surgeon control station 16 of surgeon 18 in operation process.One or more assistant 20 also can participate in this operation process.MIRS system 10 can also comprise patient's thruster car 22 (surgical operation robot) and electronics go-cart 24.Patient's thruster car 22 can handle at least one removable tool assembly 26 (hereinafter referred to as " instrument ") coupled by the mini-incision in patient 12 health, and surgeon 18 watches surgical site by control station 16 simultaneously.Can be obtained the image of surgical site by endoscope 28 (such as stereo endoscope), wherein said endoscope can be handled by patient's thruster car 22 so that directed to endoscope 28.Electronics go-cart 24 can be used to the image processing the surgical site shown subsequently to surgeon 18 by surgeon control station 16.The quantity of nonrecoverable operation tool 26 is by the space constraint that substantially depends in diagnosis or surgical procedures and operating room and other factors.If must change one or more instrument 26 used in operation process, then assistant 20 can from patient's thruster car 22 removing tool 26, and uses in operating room and replaced from another instrument 26 of pallet 30.

Figure 1B diagrammatically illustrates robotic surgical system 50 (all systems of MIRS as shown in Figure 1 10).As mentioned above, surgeon can use surgeon control station 52 (the surgeon control station 16 in such as Fig. 1) to control patient's thruster car (surgical operation robot) 54 (the patient's thruster car 22 in such as Figure 1A) during minimal invasive surgical procedures.Patient's thruster car 54 can use imaging device (such as stereo endoscope) to catch the image of operative site, and the image be captured is exported to electronics go-cart 56 (the electronics go-cart 24 in such as Fig. 1).As mentioned above, electronics go-cart 56 can process the image be captured in every way before any follow-up display.Such as, before by the image of combination, surgically surgeon console 52 is shown to surgeon, electronics go-cart 56 can use fictitious control interface to cover the image be captured.Patient's thruster car 54 can export the image that is captured, for processing in electronics go-cart 56 outside.Such as, patient's thruster car 54 can export the image that is captured to processor 58, and this processor can be used to process the image be captured.Image can also be processed, to process the image be captured jointly, in succession and/or in combination together with this electronics go-cart can be coupled in processor by the combination of electronics go-cart 56 and processor 58.Together with one or more independent display 60 can also be coupled in processor 58 and/or electronics go-cart 56, for this locality and/or the long-range display of image (image of such as operative site or other relevant image).

Fig. 2 is the perspective view of surgeon control station 16.Surgeon control station 16 comprises left eye display 32 and right eye display 34, for the coordination axonometric chart presenting the surgical site can with depth perception for surgeon 18.Control station 16 also comprises one or more input control device 36, described device and then cause patient's thruster car 22 (shown in Figure 1A) to handle one or more instrument.The degree of freedom that input control device 36 can provide the instrument 26 (shown in Figure 1A) that associates with it identical, for surgeon provides long-range integrated with instrument 26 of input control device 36 to present or perception, to make surgeon have the strong sensation of direct control tool 26.In order to this object, orientation, power and tactile feedback sensors (not shown) can be adopted orientation, power and tactile sensation are transmitted back surgeon hand from instrument 26 by input control device 36.

Surgeon control station 16 usually and patient be positioned at identical room, can physical presence and directly assistant is spoken instead of is spoken by phone or other communication media if make surgeon directly can monitor operation needs.But surgeon can be positioned at different rooms, diverse building or distance patient other position far away, to allow telesurgical procedures.

Fig. 3 is the perspective view of electronics go-cart 24.Electronics go-cart 24 can couple with endoscope 28 and can comprise processor, and this processor to be such as positioned on local and/or long-range suitable display at surgical console or another for display subsequently for the treatment of the image be captured and to show to surgeon.Such as, when using stereo endoscope, electronics go-cart 24 can process the image be captured, to present the coordination stereo-picture of surgical site for surgeon.This coordination can comprise the aligning between inverse image and can comprise the three-dimensional operating distance regulating stereo endoscope.As another example, image procossing can comprise the camera calibration parameters that use had previously been determined, to compensate the image error of image capture device, and such as optical aberration.

Fig. 4 illustrates patient's thruster car 22 with multiple manipulator arm, and wherein each manipulator arm supports surgical operating instrument or instrument 26 at the far-end of manipulator arm.The patient's thruster car 22 illustrated comprises four manipulator arm 100, and described manipulator arm can be used to support Surigical tool 26 or imaging device 28, such as catching the stereo endoscope of the image of operative site.Manipulation is provided by the robotic manipulator arms 100 with several robot adapter.Imaging device 28 and Surigical tool 26 can be located and be handled by otch in patient body, make mobile telecommunication center maintain incision, to make the minimized in size of otch.When surgical operating instrument or instrument 26 are positioned in the visual field of imaging device 28, the image of operative site can comprise the image of the far-end of surgical operating instrument or instrument 26.

About Surigical tool 26, substituting robotic surgical instrument or the apparatus of various dissimilar and different end effector can be used, wherein remove during surgical procedures and replace the apparatus of at least some manipulator.Some (comprise Di and see shellfish base pincers tweezer (DeBakey Forceps), microforceps, booth shears and applicator) in these end effectors comprise and being pivoted relative to each other to limit the first end effector element and second end effector element of a pair end effector jaw.Other end effectors comprising scalpel and electric probe have single end effector element.For the apparatus with end effector jaw, usually activate jaw by the promptly component of extruding shank.Such as, single end effector type apparatus can also activated to fill energy to electric cautery probe by firmly grasping component.

The slender axles of apparatus 26 allow the far-end of end effector and axle by Wicresoft's cut hole, are distad inserted into surgical site often through stomach wall etc.Surgical site can be inflated, and usually at least part of by around axle, through the position residing for Wicresoft's cut hole, pivotable apparatus 26 realizes the movement of end effector in patient body.In other words, manipulator 100, by the nearside shell at the outer mobile apparatus of patient body, makes axle extend through Wicresoft's cut hole position, to help to provide the expectation of end effector to move.Therefore, during surgical procedures, manipulator 100 will experience the remarkable movement outside patient p usually.

Can with reference to figure 5A-13C understanding according to the exemplary manipulator arm of many embodiments of the present invention.As mentioned above, manipulator arm substantially supports distally apparatus or Surigical tool and realizes the movement of apparatus relative to substrate.Due to during surgical procedures (usually under the help having surgical assistant), the apparatus different in a large number with different end effector can be arranged on each manipulator in succession, so distally instrument holders will preferably allow removing fast and replacing of the apparatus installed or instrument.As understood with reference to figure 4, manipulator is arranged on the substrate of patient's thruster car by nearside.Usually, manipulator arm is included in the multiple linkage extended between substrate and distally instrument holders and the joint be associated.In one aspect, exemplary manipulator comprises multiple joints with redundant degree of freedom, makes for given end effector position, and the joint of manipulator arm can be driven into a series of difference configuration.This can be the situation of the embodiment of any manipulator arm disclosed herein.

In certain embodiments, all examples as shown in Figure 5A, exemplary manipulator arm comprises nearside swivel coupling J1, and it rotates so that the manipulator arm in solderless wrapped connection head axis swivel coupling distally around the first joint axis.In certain embodiments, swivel coupling J1 is directly mounted to substrate, and in further embodiments, joint J1 can be installed to one or more removable linkage or joint.The splice combinations ground of manipulator has the degree of freedom of redundancy, makes the orientation for given end effector, and the joint of manipulator arm can be driven into a series of difference configuration.Such as, the manipulator arm of Fig. 5 A-5D can be manipulated to different configurations, and the distal member 511 (such as instrument 512 or apparatus axis extend the intubate passed through) be supported in instrument holders 510 maintains concrete state and can comprise end effector give orientation or speed.Distal member 511 normally instrument axle 512 extends the intubate passed through, and instrument holders 510 bracket (being shown in the block structure of translation on beam) that normally apparatus is attached before extending through in Wicresoft's cut hole to patient body by intubate 511.

The rotation axis of each connecting rod describing the manipulator arm 500 of Fig. 5 A-5D and the joint connecting connecting rod as shown in figs. 5 a-5d, first connecting rod 504 from around its joint axis pivotable and the pivot fitting J2 being coupled to the swivel coupling J1 rotated around its joint axis distad extend.Many remainders of joint can be identified, as shown in Figure 5A by the rotation axis be associated with joint.Such as, as shown in the figure, at the pivot fitting J3 place of solderless wrapped connection head pivot axis, the far-end of first connecting rod 504 is coupled to the near-end of second connecting rod 506, and at the pivot fitting J4 place around its axis pivotable, the near-end of third connecting rod 508 is coupled to the far-end of second connecting rod 506.At pivot fitting J5 place, the far-end of third connecting rod 508 is coupled to instrument holders 510.Usually, when when mutually positioning, the substantially parallel and linkage of pivot axis of each joint J2, J3, J4 and J5 presents " stacking ", as shown in Figure 5 D, to provide the width w of the reduction of manipulator arm and improve patient gap during the manipulation of manipulator assemblies.In certain embodiments, instrument holders also comprises extra joint, such as prismatic joints J6, and this joint contributes to apparatus 306 moving axially by Wicresoft's cut hole, and contribute to instrument holders and be attached to intubate, wherein apparatus is inserted into this intubate slidably.

Instrument 512 extends the extra degree of freedom that the distal member passed through or intubate 511 can comprise the distally of instrument holders 510.The usual motor by manipulator drives by the actuating of the degree of freedom of this apparatus, and apparatus and support manipulator structure can separate at quick distachable instrument holders/instrument interface place by alternate embodiment, make one or more joint shown on apparatus in fact on interface, or vice versa.In certain embodiments, intubate 511 is included in the insertion point of tool tip or pivot points P P is neighbouring or the swivel joint J7 (not shown) of nearside, and wherein this pivot points P P is placed in the position of Wicresoft's cut hole usually.The distally wrist of apparatus allows the apparatus joint axis of end effector at instrument wrist place around one or more joint of Surigical tool 512 to move pivotally.Angle between end effector jaw member can be controlled independent of the position of end effector and orientation.

The range of movement of exemplary manipulator assembly can be understood by reference to Fig. 6 A-6C.During surgical procedures, exemplary manipulator arm can be manipulated to forward pitch configuration (as shown in Figure 6A) or pitching configuration (as shown in Figure 6B) backward as required, so that the particular patient tissue in sensible surgical operation work space.Typical manipulator assemblies comprises end effector, its can around axis forward and pitching at least ± 60 degree backward, preferably about ± 75 degree, and can around axis tilt ± 80 degree.Although this respect allows the operability of the increase of the end effector with assembly, can confined configuration but the mobile of end effector can be there is, particularly as shown in Figure 6 A and 6 B when manipulator arm is in the configuration of complete forward pitch or pitching completely backward.In one embodiment, manipulator arm has the range of movement (ROM) (+/-75deg (degree)) and the range of movement (+/-300deg) for outside deflected joint that are respectively used to outside pitching joint.In certain embodiments, can increase ROM for outside pitching, be greater than the ROM of (+/-90deg) to provide, " cone of silence " can disappear completely in this case, but usually limits the inner ball be associated and will retain with inserting.Be appreciated that various embodiment can be configured the ROM having and increase or reduce, ROM above-mentioned is provided for the object of explanation, and further, the invention is not restricted to ROM described herein.

Fig. 6 C diagrammatically illustrates whole range of movement and the work space of the tool tip of the exemplary manipulator of Fig. 5 A-5B.Although work space is illustrated as hemispherical, but it also can be represented as spheroid, and this depends on range of movement and the configuration of one or more swivel coupling (such as joint J1) of manipulator.As shown in the figure, hemisphere in figure 6 c comprises pellet shapes space, center and two tapering space.The movement at representational tool tip, described space is impossible or owing to making the mobile difficulty of end effector or slow high joint speed but infeasible region due to mechanical constraint.Due to these reason, conical space is called as in " cone of silence ".In certain embodiments, manipulator arm can reach singular point in some places within the scope of taper.Due in the cone of silence or neighbouring manipulator move and can suffer damage, so be difficult to manipulator arm be moved apart the cone of silence and one or more connecting rod of not manual mobile operating device to reconfigure linkage and the joint of manipulator, and this often needs substituting operator scheme and postpones surgical procedures.

Apparatus axis enters angle between distally linkage that the movement of these tapered segments or movement in its vicinity can betide in manipulator usually relative hour.This configuration can be avoided with the angle (making linkage relative to each other be moved to more orthogonal orientation) increased between linkage by reconfiguring manipulator.Such as, in the configuration shown in Fig. 6 A and Fig. 6 B, when the angle between farthest side connecting rod and instrument holders, (angle a) becomes relative hour, and the movement of manipulator can become more difficult.According to the joint moving range of residue joint in various embodiments, when the angle between some linkage reduces, the movement of manipulator can be prohibited, and in some cases, manipulator arm can be no longer redundancy.Apparatus axis is known as by " bad adjustment " close to the manipulator configuration that the angle between these tapered segments or linkage is relatively little, makes the navigability of manipulator arm and flexibility ratio be limited.It is expected that this manipulator is by " well-tuned ", to maintain motility and the scope of movement.In one aspect, the present invention allows user to be reconfigured manipulator as required by input command simply thus avoided the movement of apparatus axis near above-mentioned tapered segment, though in surgical procedures end effector movement during also in this way.If no matter manipulator for which kind of reason becomes by " bad adjustment ", then this respect is useful especially.

Although the embodiment of above-mentioned manipulator can be used in the present invention, but some embodiments can comprise additional joint, and it also can be used to motility and the adjustment situation of improving manipulator arm.Such as, exemplary manipulator can comprise swivel coupling and/or the linkage of joint J1 nearside, and its axis that can be used to wraparound adaptor turns round the manipulator arm of Fig. 5 A and its cone of silence be associated to reduce or eliminate the cone of silence.In another embodiment, exemplary manipulator can also comprise distally pivot fitting, and it is around the axis pivotable instrument holders being basically perpendicular to joint J5, thus offset tool is most advanced and sophisticated, further to reduce the cone of silence and to increase the moving range of Surigical tool.In another embodiment, the proximal fitting (such as J1) of manipulator arm can be movably mounted in substrate, to move or to be shifted the cone of silence as required, and improves the range of movement of manipulator tool tip.The use of this plus couplings and advantage can be understood by reference to Fig. 7 A-13C, and it illustrates the example of these joints, and in any exemplary manipulator arm as herein described, it can use independently of one another or combinationally use separately.

Fig. 7 A-7B illustrates the additional redundant connector used together with exemplary manipulator arm---the portions of proximal of manipulator arm is connected to the first joint of substrate.First joint is nearside swivel coupling TJ, the joint axis revolution manipulator arm of its solderless wrapped connection head TJ.Nearside revolution TJ comprises connecting rod 501, and it makes joint J1 proximally turn round TJ and is biased predetermined distance or angle.Connecting rod 501 can be bending linkage, as shown in Figure 7 A, or linear or angled linkage, as shown in Figure 7 B.Usually, the joint axis of joint TJ is aimed at the insertion point of remote center RC or tool tip, all as shown in Figure 7A.In a kind of exemplary embodiment, the joint axis of joint TJ passes remote center's (other swivel coupling axis each in manipulator arm are also like this) to prevent in the motion of body wall place, and therefore, it is possible to moves at surgery.The axis of joint TJ is coupled to the portions of proximal of arm, and therefore it can be used to orientation and the orientation at the back side changing arm.In the ordinary course of things, the axis of redundancy (such as this) allows instrument tip to follow surgical order, and avoids colliding with the anatomical structure of other arms or patient simultaneously.In one aspect, nearside revolution TJ is only for changing the setting angle of manipulator relative to floor.This angle is important, and reason is as follows: 1) avoid colliding with external patient anatomical structure, and 2) arrive anatomical structure in body.Usually, the angle a be attached between the proximal link of the manipulator of nearside swivel coupling TJ and the pivotal axis of nearside is approximately 15 degree.

Fig. 7 B illustrates the relation in nearside swivel coupling TJ in exemplary manipulator arm and its joint axis be associated and the cone of silence.The joint axis of nearside swivel coupling TJ can pass the cone of silence, or can completely outside the cone of silence.By the axis revolution manipulator arm around nearside revolution TJ, the cone of silence can be reduced (joint TJ axis is through in the embodiment in the cone of silence wherein), or can effectively be eliminated (nearside swivel coupling axis extends in the embodiment outside the cone of silence completely wherein).The Distance geometry angle determination joint TJ axis of connecting rod 501 is relative to the orientation in the cone of silence.

Fig. 8 illustrates the redundant connector of the another kind of type for exemplary manipulator arm, instrument holders 510 is connected to the distally swivel coupling TWJ of the distal link of manipulator arm 508.Distally swivel coupling TWJ allows system solderless wrapped connection head axis to reverse instrument holders 510, and this axis is usually through remote center or insertion point.It is desirable that swivel coupling is positioned at distally on this arm, and be therefore particularly suitable for the mobile orientation inserting axis.The interpolation of the axis of this redundancy allows manipulator to present multiple orientation for any single instrument tip orientation.In the ordinary course of things, the axis of redundancy (such as this) allows instrument tip to follow surgical order, and avoids colliding with the anatomical structure of other arms or patient simultaneously.Because distally swivel coupling TWJ has and mobile inserts the ability of axis closer to clinoid, so the range of movement of its arm that can increase Fig. 8 pitching back and forth.The axis of distally swivel coupling TWJ, relation between the clinoid of J1 and the insertion axis of tool tip are shown in Fig. 9.Figure 10 A-10C illustrates in succession moving of TWJ, and how the insertion axis of tool tip is displaced to opposite side from side by it.

Another advantage of distally swivel coupling TWJ is, it can reduce the gap circular cone of patient, this circular cone is the swept volume of the distal part of the manipulator arm of insertion point nearside, and it must clear up patient, to avoid the collision between patient and the distally linkage of instrument holders or manipulator arm.Figure 11 A illustrates the patient gap circular cone of the portions of proximal of manipulator arm, and the angular displacement of distally swivel coupling simultaneously remains on 0 °.Figure 11 B illustrates the patient gap circular cone of the minimizing of the portions of proximal of manipulator arm, and distally swivel coupling is shown as the angular displacement had around 90 °, its axis simultaneously.Therefore, have in the operation process in minimum patient gap near insertion point, additional gap can be provided according to the use of joint TWJ of the present invention and maintain the orientation of remote central location or end effector as required simultaneously.

Figure 12 A-13C illustrates the redundant connector of the another kind of type used together with exemplary manipulator arm, around axis translation or the proximal fitting of turning round manipulator arm.In certain embodiments, this nearside can translation joint along the proximal fitting of path shift manipulator, such as joint J1 or TJ, to reduce or eliminate the cone of silence, to provide the navigability of better adjustment to manipulator arm and improvement by the range of movement of displacement or slewing maneuver device arm.Can comprise circular path by translation joint, shown in the joint HJ1 such as in Figure 12 A-12D, or semicircle or curved path can be comprised, such as shown in Figure 13 A-13C.In general, joint around can translation joint axis revolution manipulator arm, wherein this axis is crossing with remote center RC, and the axle of the instrument 512 extended by intubate 511 is around remote center RC pivotable.In the embodiment shown in Figure 12 A-12D, this axis of HJ1 is vertical axis, and in the embodiment shown in Figure 13 A-13C, the axis of HJ2 is level.

In a kind of exemplary embodiment, manipulator arm 500 can comprise nearside swivel coupling or distally swivel coupling, nearside can any or all of in the parallelogram arrangement of translation joint and distally linkage.Any or all of use of these features provides additional redundant degree of freedom and contributes to reconfiguring according to the present invention, to be provided better by the assembling of " adjustment " manipulator by the angle increased between linkage, thus increase flexibility ratio and the motion of manipulator.The flexibility ratio of the increase of this exemplary manipulator can also be used to the kinesiology of optimized handling device linkage, to avoid joint restriction, singular point etc.

In a kind of exemplary embodiment, moved by the joint using the motor of this system to drive one or more joint to control manipulator by controller, wherein move according to the coordination calculated by the processor of controller and joint and drive described joint.Mathematically, at least some that controller can use vector and/or matrix to perform joint order calculates, and some wherein in vector and/or matrix can have the element corresponding to joint arrangement or speed.The substituting joint arrangement scope that processor can obtain can be conceptualized as joint space.Such as, this joint space can have the as many dimension of the degree of freedom had with manipulator, and the customized configuration of manipulator can represent the specified point in joint space, and wherein each coordinate corresponds to the connector status of the joint that is associated of manipulator.

In a kind of exemplary embodiment, this system comprises controller, and the order orientation and velocity of the feature wherein in work space (being designated as cartesian coordinate space (being also referred to as cartesian space here) here) is input.This feature can be on manipulator or depart from any feature of manipulator, and this manipulator can be used as using control inputs to carry out hinged control framework.Examples of features on manipulator in many embodiments as herein described will be tool tip.Another example of feature on manipulator will be physical features, and this feature is not on tool tip, but a part for manipulator is such as sold or colored pattern.The examples of features departing from manipulator will be the datum mark in the space of sky, and this point is just away from tool tip certain distance and angle.Another example departing from the feature of manipulator will be destination organization, and this tissue can be established relative to the orientation of manipulator.In all these situations, end effector is associated with the imaginary control framework using control inputs to be hinged.But hereinafter, " end effector " and " tool tip " of use is synonym.Although substantially, there is not the closing form relation cartesian space end effector position of expectation being mapped to joint dimensional orientation of equal value, between cartesian space end effector and joint space velocity, substantially there is the relation of closing form.Motion Jacobian is the local derviation matrix of the cartesian space element of orientation relative to joint dimensional orientation element of end effector.By this way, motion Jacobian catches the kinematic relation between end effector and joint.In other words, motion Jacobian catches joint motion to the impact of end effector.Motion Jacobian (J) can be used in using relational expression below that joint space velocity (dq/dt) is mapped to cartesian space end effector speed (dx/dt):

dx/dt＝J dq/dt

Therefore, even if when there is not the mapping of closing form between input orientation and output orientation, also can the mapping of operating speed iteratively in such as based on the controller of Jacobian, thus realize the movement of manipulator according to user's input of order, but various embodiment can also be used.Although many embodiments comprise the controller based on Jacobian, some embodiments can use the Jacobian that can be configured to access manipulator arm to provide the various controllers of any feature as herein described.

Below with term description this kind of embodiment simplified.The direction of joint of order is used to calculate Jacobian (J).In each time step (△ t) period, calculate cartesian space speed (dx/dt) with the movement (dx of carry out desired _des/ dt) and the cumulative departure (△ x) in the cartesian space orientation of correction expectation.Then, the Jacobian (J of pseudoinverse is used ^#) this cartesian space rate conversion is become joint space velocity (dq/dt).Then, the command speed in the joint space of gained is carried out integration, to produce order orientation (q) in joint space.These relations are listed as follows:

dx/dt＝dx _des/dt+k△x (1)

dq/dt＝J ^#dx/dt (2)

q _i＝q _i-1+dq/dt△t (3)

The tool tip motion (and in some cases, the remote center of pivoting tool motion) expected directly is mapped in the joint velocity space by the pseudoinverse of Jacobian (J).If the manipulator used has the joint axis more more useful than tool tip degree of freedom (at the most six), (and when movement of tool remote center in use, manipulator should have 3 extra joint axis, 3 degree of freedom for being associated with the position of remote center), then this operator is known as redundancy.The Jacobian of the manipulator of redundancy comprises " kernel (null-space) " with at least one dimension.Within this context, " kernel " (N (J)) of Jacobian be realize instantaneously without tool tip motion (and when use remote center time, the movement without pivot point locations) the joint velocity space; And " zero motion " is the combination of direction of joint, track or path, " zero motion " also should create the non-of the position of tool tip and/or remote center and move instantaneously.Above-mentioned equation (2), to realize the reconfiguring of the expectation of manipulator (comprise as herein described any reconfigure), changes as follows by the control system kernel speed of calculating be incorporated to or inject manipulator:

dq/dt＝dq _perp/dt+dq _null/dt (4)

dq _perp/dt＝J ^#dx/dt (5)

dq _null/dt＝(1-J ^#J)z＝V _nV _n ^Tz＝V _nα (6)

According to the joint speed of equation (4), there are two components: first is zero vertical space component, " the most single " joint speed (most short vector length), it produces the tool tip motion (and when using remote center, the remote center expected moves) expected; And second is kernel component.When equation (2) and (5) are presented at and do not have kernel component, realize identical equation.Equation (6) starts in a conventional pattern for kernel component on left side, and distance You Ce on be presented at the form used in example system, wherein (V _n) be the orthogonal base vectors collection of kernel, and (α) is the coefficient of those base vectors of mixing.In certain embodiments, α is determined by controling parameters, variable or arrange, such as by using knob or other control device, so that adjustment or controlled motion in kernel as required.

Figure 14 A illustrates the relation between the kernel and zero vertical space of Jacobian of the Jacobian of exemplary manipulator arm graphically.Figure 14 A illustrates two-dimensional representation, and this illustrates the kernel along horizontal axis and zero vertical space along vertical axis, and these two axis are orthogonal.Velocity vector in this diagonal vector representation kernel and the velocity vector sum in zero vertical space, it represents above-mentioned equation (4).

Figure 14 B illustrates kernel in four-dimensional joint space and the relation between zero motion stream shape (null-motion manifold) graphically, is depicted as " zero motion stream shape ".Each arrow (q1, q2, q3 and q4) represents majority of splice axis.Closed curve represents zero motion stream shape, and this zero motion stream shape is the one group of joint-dimensional orientation realizing same end effector position instantaneously.For the set point A on curve, because kernel is the space of the joint speed without movement producing end effector instantaneously, so kernel is parallel to the tangent line of zero motion stream shape at an A place.

Figure 15 A-15B diagrammatically illustrates by driving the joint of manipulator to reconfigure exemplary manipulator 500 before and after manipulator arm in kernel.In Figure 15 A, what response was inputted by user reconfigures order, this system for apparatus end effector give orientation and according to the movement calculated drive sub TJ widdershins in kernel of residue joint, the coordination of the residue joint wherein in kernel is moved and is calculated by this system.Kernel joint speed is injected in system, to maintain the given state of end effector, thus makes user can reconfigure manipulator as required, even if end effector moves period also in this way during surgical procedures.On the other hand, this system can calculate the joint speed in the kernel of Jacobian, so that the configuration desired by realizing, and the structural design of manipulator arm maintains remote central location, such as in the embodiment shown in Figure 16 A-16B simultaneously.

In certain embodiments, one or more joint of manipulator arm can be constrained for and make one or more joint described in kernel, not be actuated to realization to reconfigure, but these joints still can be actuated to the movement of the expectation realizing end effector in zero vertical space.Alternatively, one or more joint (such as nearside swivel coupling) can be constrained for, make one or more joint described not be actuated to realize the desired movement of end effector, and be actuated to realize manipulator reconfigure movement.In further embodiments, controller can be configured and make the speed of driven joint in kernel during the period reconfiguring order be limited or remain on substantially constant speed.In further embodiments, this system can be configured and make the joint speed in kernel according to joint location and/or configuration or any amount of condition bi-directional scaling.Such as, during reconfiguring movement, user can expect that recent side joint is to be driven than the speed higher compared with distally joint in manipulator arm.In addition, this system can be configured to any one orientation or the state of the joint maintaining manipulator arm as required.

On the other hand, this system can receive by any way from system user and reconfigure order.In certain embodiments, manipulator comprises the input equipment reconfiguring order from user's reception.This input equipment can comprise for driving one or more joint (or alternatively as required, for one or more connecting rod mobile) one or more button or mechanism, and can be arranged in manipulator arm, preferably in the position of the activation and driven joint that correspond to responding device, such as shown in Figure 17 A.Alternatively, this system can comprise the input equipment with button group or mechanism group, and an each joint or linkage corresponding to manipulator arm, such as shown in the embodiment of Figure 17 B.This embodiment allows user to reconfigure described arm from middle position.This input equipment can also comprise control stick, and such as shown in Figure 17 C, it can be manipulated into and drives one or more joint and realize as required reconfiguring.Be appreciated that this input equipment can comprise any amount of modification.

Figure 18 A-18B illustrates the method reconfiguring the manipulator assemblies of robotic surgical system according to many embodiments of the present invention.Figure 18 A illustrates to be needed to realize the general algorithm relevant with equation discussed above to control the sketch of the square frame needed for patient's thruster car connector status.According to the method for Figure 18 A, this system: the positive movement calculating manipulator arm; Then, use equation (1) to calculate dx/dt, use equation (5) to calculate dq _perp/ dt; Subsequently use equation (6) according to can based on dq _perpthe z of/dt and Jacobian calculates dq _null/ dt.According to the dq calculated _perp/ dt and dq _null/ dt, then this system uses equation (4) and (3) to calculate dq/dt and q respectively, thus provide mobile, wherein moved by this, controller can realize reconfiguring of the expectation of manipulator, and maintains the state of the expectation of end effector and/or the position of remote center simultaneously.

Figure 18 B illustrates the block diagram of the exemplary embodiment of system.The steering command of the tool tip state desired by response command, the speed of this system determination tool tip and the state of joint, calculate dq thus _perp/ dt.Respond receive from user reconfigure order, processor can use determined tool tip and joint speed (or the dq calculated _perp/ dt) calculate dq _null/ dt, speed is added in calculated dq/dt by this system after this, so that (one or more) joint of drive system and realize the desired movement (or state) of end effector and reconfiguring of manipulator arm.

Although in order to be expressly understood, in detail and describe exemplary embodiment by way of example, various amendment, improvement and change will be apparent to those skilled in the art.Therefore, scope of the present invention is limited uniquely by the claim of enclosing.

Claims

1. a robotic method, it comprises:

Manipulator arm is provided, described manipulator arm comprises removable distal part, is coupled to the portions of proximal of substrate and the multiple joints between described distal part and described substrate, and described multiple joint has enough degree of freedom and has a series of different connector status to allow multiple joint described in the given state for described distal part;

Receive to be input to by user while described distal part is in the expectation state and reconfigure order in user input;

Reconfigure order described in response, reconfigure the mobile first group of joint driven in described multiple joint with what expect;

Order is reconfigured described in response, what calculate in described multiple joint described in one or more joint reconfigures movement, makes to reconfigure described in the described first group of joint with calculated joint speed combination mobile in the kernel of the Jacobian of described manipulator arm; And

According to driving the movement calculated between described first group of joint condition time to drive one or more joint described, to maintain the described expectation state of described distal part.

2. method according to claim 1, wherein said first group of joint comprises one or more joint of described manipulator arm.

3. robotic method according to claim 1, wherein said distal part comprises or is configured the surgical operating instrument of the oriented distal extension of support tool releasedly to the slender axles of surgical end effector, wherein described in surgery, apparatus axis is around remote center's pivotable, and the movement of the described calculating of one or more joint wherein said is calculated as and is driving the orientation maintaining described remote center between described first group of joint condition time.

4. robotic method according to claim 3, it comprises further:

Receive steering command to move described end effector with the end effector expected;

The end effector displacement calculating described joint is moved, so that the end effector realizing described expectation moves; And

Described joint is driven according to described end effector manipulation order, the joint speed comprised further in zero vertical space calculating described Jacobian is moved in the described end effector displacement wherein calculating described joint, and described zero vertical space is orthogonal with described kernel.

5. robotic method according to claim 4, wherein steering command utilizes end effector input equipment to be received from the first system operator, and described in reconfigure order and be input to described user input by second system operator.

6. robotic method according to claim 4, wherein said reconfigure order inputted by surgical assistant and the interface of described user input by the structural support supporting described substrate, and wherein said steering command is imported in the surgeon console of described user interface, and described surgeon console is moveable independent of described supporting construction.

7. robotic method according to claim 3, the described end effector displacement of wherein said joint is moved to be calculated as and described first group of joint is not driven.

8. robotic method according to claim 3, the described end effector displacement of wherein said joint is moved to be calculated as and is made described first group of joint not be driven into the end effector realizing described expectation to move.

9. robotic method according to claim 1, what the described input wherein received from described user comprised the described expectation of a period reconfigures movement, the driving of wherein said first group of joint comprises the hinged speed of substantially invariable joint of the first joint provided from described first group of joint, and wherein said reconfiguring mobile is calculated as the substantially invariable speed providing described first joint during the described described period reconfiguring order.

10. robotic method according to claim 1, described expectation state of described distal part comprises relative to the distal part orientation of described substrate, orientation and/or speed.

11. robotic method according to claim 1, wherein said manipulator arm is configured the instrument supporting and have mid portion, described mid portion is along inserting axis at described portions of proximal distal extension, and described instrument has the end effector of the far-end at described mid portion, wherein constraint described distal part in joint mechanical ground described at least some is relative to the movement of described substrate, make the described distal part of described manipulator arm around the remote center's pivotable arranged along described insertion axis, to contribute to the movement of described end effector at working position place, and wherein said working position is accessed by inserting otch.

12. robotic method according to claim 11, wherein multiple described joint is included in the long-range spherical center tip of described portions of proximal distally and the setting of described distal part nearside, wherein said long-range spherical center tip is mechanically constrained into the hinged described distal part around manipulator arm described in first, second, and third remote center's axis pivotable making described long-range spherical center tip, and described first, second, and third remote center's axis is crossing with described remote center.

13. robotic method according to claim 11, wherein said portions of proximal is mechanically constrained into relative to described substrate and makes the described distal part of the described manipulator arm when described portions of proximal moves around described remote center pivotable.

14. robotic method according to claim 11, described portions of proximal is connected to described substrate by the first joint wherein from described first group of joint, described first joint from described first group of joint comprises swivel coupling, this swivel coupling supports the described distal part of described manipulator arm, the described distal part of manipulator arm described in the pivot axis making the joint of described swivel coupling move around described swivel coupling, wherein said pivot axis extends from described swivel coupling and passes through described remote center, the described insertion axis of described manipulator arm is moved along the circular cone towards the distad convergent of described remote center orientation.

15. robotic method according to claim 11, described portions of proximal is connected to described substrate by the first joint wherein from described first group of joint, described distal part is made to be moveable relative to described substrate along path, described path is arc or almost circular, makes described portions of proximal along the described insertion axis of movement described distal part of manipulator arm described in described remote center place's pivotable in described path.

16. robotic method according to claim 11, wherein intermediate connecting rod uses the first joint be arranged on the nearside of described distal part and be close to described distal part, wherein this first joint is from described first group of joint and between described intermediate connecting rod and described distal part, described first joint comprise relative to described intermediate connecting rod by the mechanically moving of described distal part be constrained to around first joint axis rotate swivel coupling, described first joint axis distad extends from described first joint towards described mid portion, to intersect at the described insertion axis by described remote center.

17. robotic method according to claim 1, the distal end executor wherein providing manipulator arm to comprise to be supported by described distal part and a series of connecting rods connected in a kinematic fashion extended between described portions of proximal and described distal end executor, wherein said portions of proximal is connected to described substrate by the first joint from described first group of joint, make described connecting rod reconfigure mobile during the described portions of proximal of described manipulator arm move relative to described substrate, and wherein said first joint comprises swivel coupling, this swivel coupling supports the described connecting rod of described manipulator arm, the described connecting rod of manipulator arm described in the pivot axis making the joint of described swivel coupling move around described swivel coupling, described pivot axis extends from described swivel coupling and passes through described remote center.

18. 1 kinds of robotic method, it comprises:

Manipulator arm is provided, it is configured support distal tool, this distal tool has distal end executor and to arrange and the elongated intermediate sections supporting described end effector is divided along inserting axis, for the described end effector of manipulation by Wicresoft's cut hole, wherein said manipulator arm has the portions of proximal and multiple joint that are connected to substrate, described multiple joint has enough degree of freedom to allow having a series of connector status for given end effector position, wherein joint described at least some comprises remote center's joint, its be mechanically constrained into around along described insertion axis and remote center's pivotable of contiguous described Wicresoft cut hole move,

While described end effector is in the expectation state, response reconfigures order, drives first group of joint in described multiple joint;

Reconfigure order described in response, calculate the movement of described joint, make the movement of described first group of joint together with the computational speed of described joint in the kernel of described Jacobian; And

Drive in described remote center joint while the movement of response command drives described first group of joint according to calculated movement one or more, to maintain the end effector state expected.

19. robotic method according to claim 18, it comprises the movement using remote center's joint described in parallelogram linkage device system restriction further, and this system comprises:

Parallelogram linkage device substrate, it is coupled to described substrate and rotates for around first remote center's axis crossing with described remote center;

First connecting rod, it has first connecting rod near-end and first connecting rod far-end, and described first connecting rod near-end is coupled to described parallelogram linkage device substrate in substrate joint, and described first connecting rod far-end is configured and supports described instrument;

Second connecting rod, it has second connecting rod near-end and second connecting rod far-end, described second connecting rod near-end is coupled to described first connecting rod far-end, described second connecting rod far-end is configured and supports described instrument, the insertion axis of described instrument is constrained for and rotates around second remote center's axis crossing with described remote center.

20. robotic method according to claim 18, the kinematic constraint of described insertion axis is become around the described first remote center's axis extended by described remote center and second remote center's axis pivoting action by wherein said remote center joint, and the first joint in wherein said first group of joint is configured the kinematic constraint of described insertion axis one-tenth around the first remote center axis rotation extended by described remote center.

21. robotic method according to claim 18, it comprises further:

Steering command is received to move described end effector with the end effector expected from user input;

The end effector displacement calculating described joint is mobile; And

Described joint is driven according to described end effector manipulation order, the described end wherein calculating described joint performs the mobile joint speed comprised further in zero vertical space calculating described Jacobian of displacement, and described zero vertical space is orthogonal with described kernel.

22. robotic method according to claim 21, the end effector displacement of the calculating of wherein said joint is moved to be calculated as and is made described first group of joint not be driven into the end effector realizing described expectation to move.

23. robotic method according to claim 18, the movement that reconfigures of the calculating of wherein said joint is calculated as the substantially invariable speed making the movement from the first joint of described first group of joint provide described first joint on the described period reconfiguring order.

24. robotic method according to claim 21, wherein receive described steering command with end effector input equipment from the first system operator, and wherein described in the reception of user's inputting interface, reconfigure order from second system operator.

25. robotic method according to claim 18, wherein said portions of proximal is connected to described substrate by a joint in described multiple joint, makes the described portions of proximal of described manipulator arm described joint is driven while be moveable relative to described substrate.

26. robotic method according to claim 18, described portions of proximal is connected to described substrate by the first joint wherein from described first group of joint, described first joint from described first group of joint comprises swivel coupling, it supports the described remote center joint of described manipulator arm, the described remote center joint of manipulator arm described in the pivot axis making the joint of described swivel coupling move around described swivel coupling, wherein said pivot axis extends from described swivel coupling towards described remote center.

27. robotic method according to claim 18, the first joint wherein from described first group of joint is configured to described remote center joint to be connected to described instrument, described first joint from described first group of joint comprises swivel coupling, it is configured and supports described instrument, insert axis described in the pivot axis making the joint of described swivel coupling move around described swivel coupling, wherein said pivot axis extends from described swivel coupling towards described remote center.

28. robotic method according to claim 26, the joint of wherein said swivel coupling moves one or more joint around manipulator arm described in remote center's pivotable.

29. 1 kinds of robotic method, it comprises:

Manipulator arm is provided, it is configured support distal tool, it has by Wicresoft's cut hole along inserting the distal end executor of Axis Extension, the portions of proximal being connected to the proximal link of substrate and the multiple connecting rods connected in a kinematic fashion extended betwixt, connecting rod described in some comprises the remote center's connecting rod be linked together by remote center's joint, described remote center joint be configured by the mechanically moving of described insertion axis the first remote center's axis and the second remote center axis be constrained to around lying across the described insertion axis extended by remote center rotate;

To be input to by user by response and to reconfigure order to drive one or more joint being connected to described first connecting rod in user input apparatus, first connecting rod in mobile described multiple connecting rod is to realize reconfiguring of expectation, wherein drive one or more joint described to move described insertion axis pivotally around the first joint axis, described first joint axis lies across the described insertion axis extended by described remote center.

30. robotic method according to claim 29, it comprises further:

The end effector displacement calculating described connecting rod is moved; And

The described joint connecting described multiple connecting rod is driven according to described end effector manipulation order, the joint speed in zero vertical space comprising the Jacobian calculating described manipulator arm is further moved in the described end effector displacement wherein calculating described joint, and described zero vertical space is orthogonal with described kernel.

31. robotic method according to claim 30, the end effector displacement of the calculating of wherein said connecting rod is moved to be calculated as and is forbidden that described first connecting rod moves relative to described substrate.

32. robotic method according to claim 29, mobile being calculated as that reconfigure of the calculating of wherein said joint makes the movement of this first connecting rod provide substantially invariable speed on the described period reconfiguring order.

33. robotic method according to claim 30, wherein saidly reconfigure order and are imported in patient's thruster car of described user's inputting interface, and described steering command is imported in the surgeon console of described user interface.

34. robotic method according to claim 30, wherein saidly reconfigure order and are imported in the surgeon console of described user's inputting interface, and described steering command is imported in described surgeon console.

35. robotic method according to claim 30, wherein saidly reconfigure order and to be imported in patient's thruster car of described user's inputting interface and described steering command is imported in described patient's thruster car.

36. robotic method according to claim 29, wherein said portions of proximal is attached to described substrate, makes during the movement of described connecting rod, forbid that described portions of proximal moves relative to described substrate.

37. robotic method according to claim 29, the joint wherein described portions of proximal being connected to described substrate is swivel coupling, it supports the described connecting rod of described manipulator arm, make the movement of described swivel coupling around described swivel coupling pivot axis described in one or more connecting rod of manipulator arm, wherein said pivot axis extends from described swivel coupling towards described remote center.

38. according to robotic method according to claim 37, and the joint of described swivel coupling moves one or more connecting rod around manipulator arm described in described remote center pivotable.

39. robotic method according to claim 29, the described joint wherein described portions of proximal being connected to described substrate is moveable relative to described substrate along being arc or almost circular path, makes described joint along the movement in described path around one or more connecting rod of manipulator arm described in the axis pivotable extended towards described remote center.

40. 1 kinds of robot systems, it comprises:

Manipulator arm, it is configured for moving distal part relative to nearside substrate in robot mode, described manipulator arm has the multiple joints between described distal part and the portions of proximal being coupled to described substrate, and described joint provides enough degree of freedom to have a series of connector status to allow the given state for described distal part;

Input equipment, it reconfigures order to reconfigure the mobile first group of joint moved in described multiple joint with what expect for receiving; And

Processor, described input equipment is connected to described manipulator arm by it, described processor is configured described in response and reconfigures the movement that order calculates described multiple joint, the movement of the order of described first group of joint is made to fall in the kernel of the Jacobian of described manipulator arm together with the speed of the calculating of described joint, described processor is configured and drives described joint according to calculated movement during the movement of the described order of described first group of joint, thus described reconfigure mobile during maintain expectation state of described distal part.

41. systems according to claim 40, wherein said first group of joint comprises one or more joint of described manipulator arm.

42. robot systems according to claim 40, it comprises further:

Input equipment, its for receiving steering command in case with expect distal part move described distal part,

Wherein said processor is configured the distal part displacement that the described steering command of response calculates described joint further and moves, the joint speed comprised in zero vertical space calculating described Jacobian is moved in the described distal part displacement wherein calculating described joint, described zero vertical space is orthogonal with described kernel, and

The distal part displacement be configured further as the calculating according to described joint of wherein said processor is moved and is driven described joint, moves with the distal part realizing described expectation.

43. robot systems according to claim 42, wherein said processor is configured and calculates joint and move, make calculate the described distal part displacement of described joint move described in first group of joint do not driven.

44. robot systems according to claim 42, wherein said processor is configured and calculates joint and move, make calculate the described distal part displacement of described joint move described in first group of joint be not driven into the described distal part displacement realizing described joint and move.

45. robot systems according to claim 40, wherein said processor is configured calculating joint and moves, and makes the movement of the first joint in described first group of joint on the described period reconfiguring order, provide the substantially invariable speed of described first joint.

46. robot systems according to claim 40, the described input equipment wherein reconfiguring order described in receive is arranged on a part for described manipulator arm, makes to use described input equipment input command to drive contiguous joint so that the described part of described manipulator arm that is located thereon of mobile described input equipment.

47. robot systems according to claim 40, the described input equipment wherein for reconfiguring steering command described in receiving comprises button group, and wherein said button group comprises multiple button, and each button corresponds to the different joints in described multiple joint.

48. robot systems according to claim 40, the described input equipment wherein for reconfiguring steering command described in receiving comprises control stick, makes described multiple joint be optionally drivable by the movement of described control stick.

49. robot systems according to claim 42, wherein said user interface comprises surgeon console and patient's thruster car, and wherein said manipulation input and the described input that reconfigures are configured and make both to be arranged on described patient's thruster car, be both arranged on described surgeon console or described manipulation input is arranged on and reconfigures input described on described surgeon console and be arranged on described patient's thruster car.

50. robot systems according to claim 40, the portions of proximal of wherein said manipulator arm is connected to described substrate by the first joint from described first group of joint.

51. robot systems according to claim 40, the portions of proximal of wherein said manipulator arm is connected to described substrate by a joint in described multiple joint, make joint according to calculated reconfigure mobile and driven while described manipulator arm described portions of proximal removable relative to described substrate.

52. robot systems according to claim 50, the joint wherein described portions of proximal being connected to described substrate is swivel coupling, it supports the described joint of described manipulator arm, one or more joint of manipulator arm described in the pivot axis making the joint of described swivel coupling move around described swivel coupling, described pivot axis extends through described distal part from described swivel coupling.

53. robot systems according to claim 52, the joint of wherein said swivel coupling moves one or more joint around manipulator arm described in the axis pivotable towards described remote center orientation.

54. robot systems according to claim 51, the joint wherein described portions of proximal being connected to described substrate relative to described substrate arcuately or basic circular removable, makes this joint along the movement in described path around one or more joint of manipulator arm described in the axis pivotable extended by described remote center.

55. 1 kinds of robot systems, it comprises:

Manipulator arm, it is for moving distal end executor relative to nearside substrate in robot mode, described manipulator arm comprises multiple connecting rod connected in a kinematic fashion, and described connecting rod has enough degree of freedom and moves in the kernel of the Jacobian of described manipulator arm to allow the given state for described end effector;

Input equipment, it reconfigures order to reconfigure mobile at least one connecting rod moved in described multiple connecting rod with what expect for receiving;

Processor, the described input that reconfigures is connected to described manipulator arm by it, described processor is configured described in response and reconfigures the movement that order calculates described multiple connecting rod, makes the movement reconfiguring the calculating of movement and described connecting rod described at least one connecting rod described fall in the kernel of described Jacobian; And

Wherein said processor be configured according to described in reconfigure order and the movement of described calculating and drive and be connected described multiple connecting rod in a kinematic fashion with one or more joint of mobile described connecting rod, to maintain the expectation state of described end effector.

56. robot systems according to claim 55, it comprises further:

Input, it is for receiving steering command to move described end effector with the end effector expected, described input is set up on a user interface,

Wherein said processor is configured the described steering command of response further and moves to the end effector displacement calculating described connecting rod, the end effector displacement wherein calculating described connecting rod is moved and is comprised the joint speed calculated in zero vertical space of described Jacobian, described zero vertical space is orthogonal with described kernel, and

Wherein said processor is configured further and moves according to the end effector displacement of the calculating of described connecting rod the described joint driving and connect described connecting rod in a kinematic fashion, moves with the end effector realizing described expectation.

57. robot systems according to claim 55, the first connecting rod of wherein said manipulator arm is connected to described nearside substrate by joint, make described connecting rod according to described in reconfigure mobile and while movement described first connecting rod removable relative to described nearside substrate.

58. robot systems according to claim 57, the described joint wherein described first connecting rod being connected to described substrate is swivel coupling, it supports the described joint of described manipulator arm, one or more connecting rod of manipulator arm described in the pivot axis making the joint of described swivel coupling move around described swivel coupling, described pivot axis extends from described swivel coupling towards described end effector.

59. 1 kinds of surgical operation robot systems, it comprises:

Surgical operating instrument, it has proximal extremity, is suitable for inserting the distal end executor in patient body and the mid portion with insertion axis betwixt;

Manipulator arm, it is configured the described proximal extremity supporting described apparatus, so that apparatus described in pivotable from described patient body, wherein said manipulator arm and apparatus comprise multiple passive joint, described joint provides enough degree of freedom to have a series of connector status to allow the given state for described end effector, the described joint of wherein said manipulator comprises remote center's joint, and it is configured and is constrained to around along described insertion axis and remote center's pivotal point pivotable of contiguous Wicresoft cut hole by the mechanically moving of described distal part;

Enter drive, it reconfigures order to reconfigure the mobile first group of joint moved in described multiple joint with what expect for receiving;

Processor, described input is connected to described manipulator arm and apparatus by it, and described processor is configured described in response and reconfigures order to calculate the movement of described joint, makes the speed of the calculating of described joint in the kernel of described Jacobian,

Wherein said processor be configured further according to described in reconfigure order and the movement that calculates drives described joint, to maintain described mid portion being in described pivotal point.

60. robot systems according to claim 59, it comprises further:

Input, it is for receiving steering command to move described end effector with the end effector expected, described input is set up on a user interface and separates with the described input equipment for reconfiguring order described in receiving,

Wherein said processor is configured the described steering command of response further and moves to the end effector displacement calculating described joint, the joint speed comprised in zero vertical space calculating described Jacobian is moved in the end effector displacement wherein calculating described joint, described zero vertical space is orthogonal with described kernel, and

Wherein said processor is configured the end effector displacement calculated according to described joint further and moves and drive described joint, so that the end effector realizing described expectation moves and maintains described mid portion be in described pivotal point.

61. robot systems according to claim 60, wherein said processor is configured calculating joint and moves, and make when the described end effector displacement calculating described joint is moved, described first group of joint is not driven.

62. robot systems according to claim 59, wherein said processor is configured calculating joint and moves, and makes the first joint from described first group of joint on the described period reconfiguring order, provide the substantially invariable speed of described first joint.

63. robot systems according to claim 59, the described input equipment wherein reconfiguring order described in receive is arranged on a part for described manipulator arm, makes by using described input equipment input command to drive contiguous joint so that the described part of the described manipulator arm at mobile described input equipment.

64. robot systems according to claim 59, comprise button group for the described input equipment reconfiguring steering command described in receiving, wherein said button group comprises multiple button, and each button corresponds to the different joints in described multiple joint.

65. robot systems according to claim 59, the described input equipment wherein for reconfiguring steering command described in receiving comprises control stick, makes described multiple joint be optionally drivable by the movement of described control stick.

66. robot systems according to claim 59, the portions of proximal of wherein said manipulator arm is connected to described substrate by the first joint.

67. robot systems according to claim 66, wherein said first joint is swivel coupling, it supports the described joint of described manipulator arm, one or more joint of manipulator arm described in the pivot axis making the joint of described swivel coupling move around described swivel coupling, described pivot axis is extended from described swivel coupling by described remote center.

68. 1 kinds of surgical operation robot systems, it comprises:

Surgical operating instrument, it has proximal extremity, is suitable for inserting the distal end executor in patient body and the mid portion along insertion Axis Extension betwixt;

Manipulator arm, it is configured the described proximal extremity supporting described apparatus, make described mid portion around remote center's pivotable to move described apparatus from described patient body, wherein said manipulator arm comprises multiple connecting rod connected in a kinematic fashion, connecting rod described in some comprises the remote center's connecting rod be linked together by remote center's joint, its be configured by the mechanically moving of described insertion axis the first remote center's axis and the second remote center axis be constrained to around lying across the described insertion axis extended by described remote center rotate;

Input, it reconfigures order to reconfigure mobile at least one connecting rod moved in described multiple connecting rod with what expect for receiving, described input connects with described manipulator arm, make to respond described order drives described manipulator first group of joint according to the movement of described expectation, and the driving of described first group of joint moves described insertion axis pivotally around the axis of first group of joint, the axis of described first group of joint lies across the described insertion axis by described remote center, the axis of described first group of joint angularly offsets from described first remote center's axis and described second remote center's axis.

69. robot systems according to claim 68, it comprises further:

Processor, described input is connected to described manipulator arm by it, and wherein said processor is configured response and reconfigures order and reconfigure movement to the described connecting rod in the kernel calculating the Jacobian of described manipulator arm.

70. robot systems according to claim 69, it comprises further:

Input, it is for receiving steering command to move described end effector with the end effector expected, described input to be arranged in described user interface and to separate with the described input for reconfiguring order described in receiving,

Wherein said processor is configured the described steering command of response further and moves to the end effector displacement calculating described connecting rod, the speed of the described joint comprised in zero vertical space calculating described Jacobian is moved in the end effector displacement wherein calculating described connecting rod, described zero vertical space is orthogonal with described kernel, and wherein said controller is configured by driving one or more joint connecting described connecting rod in a kinematic fashion to move and mobile described connecting rod according to calculated end effector displacement further, move with the end effector realizing described expectation.

71. robot systems according to claim 69, wherein said user interface comprises surgeon console and patient's thruster car, described manipulation input is arranged on described surgeon console, and described in reconfigure input and be arranged on described patient's thruster car.

72. robot systems according to claim 69, wherein said user interface comprises surgeon console and patient's thruster car, described manipulation input is arranged on described surgeon console, and described in reconfigure input and be arranged on described surgeon console.

73. robot systems according to claim 69, wherein said user interface comprises surgeon console and patient's thruster car, described manipulation input is arranged on described patient's thruster car, and described in reconfigure input and be arranged on described patient's thruster car.

74. robot systems according to claim 68, the portions of proximal of wherein said manipulator arm is connected to described substrate by joint, make when described connecting rod according to described in reconfigure mobile and mobile time described manipulator arm described portions of proximal removable relative to described substrate.

75. according to the robot system described in claim 74, the described joint wherein described portions of proximal being connected to described substrate is swivel coupling, it supports the described connecting rod of described manipulator arm, one or more connecting rod of manipulator arm described in the pivot axis making the joint of described swivel coupling move around described swivel coupling, described pivot axis extends from described swivel coupling towards described remote center.